KR20080114197A - Position computation apparatus of wearable robot arm using human force input and wearable robot arm having the same and position moving method of robot arm using the same - Google Patents

Abstract

A wearable type multi-joint robot arm and a moving method thereof are provided to predict the position the robot arm moves to by using the direction and intensity of external force in three axes. A moving method of a wearable type multi-joint robot arm comprises a first step(S100) for acquiring the initial position information of a plurality of wearable robot arms which are connected to be rotated, where the robot arm has one end as a central axis and the other as a free end corresponding to the wrist of human body, a second step(S200) for predicting the information of the moving position of the other end of the robot arm by using the initial position information when the external force by the human body is input, and a third step(S300) moving the robot arms to the specified position through the moving position information.

Description

Positioning and posture calculating device for wearable articulated robot arm using input force of human body INPUT AND WEARABLE ROBOT ARM HAVING THE SAME AND POSITION MOVING METHOD OF ROBOT ARM USING THE SAME}

1 is a perspective view showing a multi-arm robot arm having a device for calculating the position and attitude of the robot arm of the present invention.

2 is a perspective view showing a mounting state of the force sensor according to the present invention.

3 is a view showing a first example of the operation principle of the position calculation device of the present invention through the robot arm of the present invention.

Figure 4 is a side view showing the robot arm of the articulated joint of the present invention.

5 is a view showing a second example of the operation principle of the robot arm position and attitude calculation apparatus of the present invention.

Figure 6 is a block diagram showing a position and attitude calculation device of the robot arm of the present invention.

7 is a flow chart showing a method for moving the position of the robot arm of the articulated joint using the robot arm position and attitude calculation apparatus of the present invention.

8 is a flowchart showing a first step according to the invention.

9 is a flowchart showing a second step according to the invention.

** Description of symbols for the main parts of the drawing **

100: robot arm 200: drive unit

300: force sensor 400: position calculation device

410: initial position calculation unit 411: angle measuring means

412: coordinate measuring means 420: moving position calculator

421: coordinate prediction means 422: inverse transform processing unit

423: conversion angle calculation means 430: control unit

The present invention relates to a multi-joint wearable robot arm, and more particularly, when the external force is applied to the force sensor mounted on the upper arm of the human body and mounted on the other end of the human arm and robot arm, the magnitude of the force in three axes. The position of the wearable articulated robot arm using the input force of the human body to predict the moving position of the arm of the human body and to move the robot arm to the moving position of the human arm using the direction and And a posture calculating device, a wearable articulated robot arm having the same, and a method of moving the robot arm in the articulated joint using the same.

In general, a wearable muscle strength support robot may be divided into a biosignal input robot and a force sensor input robot according to a method of obtaining a synchronization signal for operating the robot to a position to be moved by a user wearing the robot.

In the case of the biosignal input robot, the biosignal input robot uses a user's direct muscle signal in view of the user synchronization signal input. Therefore, the response is fast. However, there is a problem in that it is cumbersome to additionally wear attachments for obtaining a biosignal when the exoskeleton robot is worn.

In addition, since the direct muscle signal of the user is used in terms of user synchronization signal input, fast response can be expected. However, when the same motion is repeatedly measured, the measured signal is not constant and the activation height is different for each muscle. There is a problem.

In the related art, many muscles are complicated when one joint operates, and thus, real-time motion generation is difficult, and some muscles are difficult to acquire signals in that they are affected by movement of other joints.

On the other hand, the force sensor input robot is a method using a force sensor that generates an electrical signal in proportion to the force and direction applied by the user, there is an advantage that the signal is easy to detect, the reliability of the measured signal is high.

However, the force sensor input robot requires a six-axis force sensor to obtain all the information in the working space, and when the six-axis force sensor is used, the price of associated additional equipment additionally installed in the sensor is high. Have problems.

Therefore, the present invention has been made to solve the above problems, the first object of the present invention is a force sensor installed between the other end of the wearable articulated robot arm corresponding to the wrist of the human body and the robot by the operation of the human body The robot arm can receive the relative external force generated between the human body and predict the robot arm's movement position by using the direction and magnitude of the force on the three axes of the external force and move the robot arm to the movement position. The present invention provides a position calculating device and a multiarm robot arm having the same, and a method of moving the multiarm robot arm using the same.

The second object of the present invention is to install a three-axis force sensor on the other end of the wrist portion of the articulated robot arm mounted on the upper limb of the human body and to measure the magnitude and direction of the force, the associated by using a six-axis force sensor The present invention provides a robot arm position calculating device capable of significantly reducing the cost due to additional equipment, a robot arm having multiple joints, and a method of moving the robot arm having multiple joints using the same.

Position and posture calculation device of the wearable articulated robot arm using the input force of the human body of the present invention for achieving the above object is that one end forms a central axis and the other end corresponding to the wrist of the human body forms a free end and rotates with each other. An initial position calculator for calculating initial position information of a plurality of wearable robot arms connected thereto, and an external force generated between the robot arms and the human body by a human body using a force sensor installed at the other end of the robot arm. And a movement position calculator for calculating movement position information of the other end of the robot arm by using the initial position information.

Here, the initial position calculating unit measures the initial position coordinate value of the end of the robot arm using the angle measuring means for measuring the initial angle value of the central axis and the plurality of robot arms, and the initial angle value. Provided with a coordinate measuring means,

The initial position information is preferably the initial angle value and the initial position coordinate value.

The moving position calculator includes coordinate prediction means for predicting a moving position coordinate value according to the magnitude and direction of the relative external force input to the force sensor, and the moving position coordinate value predicted according to the magnitude and direction of the external force. An inverse transform processor configured to calculate a shift angle formed by the robot arms and the central axis after the external force is applied by applying an inverse transform, and converts the shift angle value from the initial angle value to convert the shift angle value. Wherein the conversion angle value calculating means for calculating,

Preferably, the movement position information is the movement position coordinate value, the movement angle value, and the conversion angle value.

In addition, the movement position coordinate value is preferably located on a line along the direction of the external force from the initial position coordinate value.

The wearable articulated robot arm having the position and posture calculating device of the wearable articulated robot arm using the input force of the human body of the present invention for achieving the above object has one center axis and the other end forming a free end. A plurality of robot arms connected to each other and worn on the upper limbs of the human body, a driver installed between the robot arms and receiving power from the outside to drive the robot arms, and installed at the other end of the robot arm. As the upper limb of the human body operates, when a relative force generated between the human body and the robot arm is input, a force sensor measuring the magnitude and direction of the force on three axes and calculating initial position information of the robot arms When the relative position is input to the initial position calculation unit and the other end of the robot arm, the initial position information is used to determine the other end of the robot arm. A movement position calculator for predicting movement position information, and a control unit which transmits an electrical signal to the driving unit through the movement position information to move the robutaarm to a predetermined position.

Here, the initial position calculating unit measures the initial position coordinate value of the end of the robot arm using the angle measuring means for measuring the initial angle value of the central axis and the plurality of robot arms, and the initial angle value. Provided with a coordinate measuring means,

The initial position information is preferably the initial angle value and the initial position coordinate value.

The moving position calculator includes coordinate prediction means for predicting a moving position coordinate value according to the magnitude and direction of the relative external force input to the force sensor, and the moving position coordinate value predicted according to the magnitude and direction of the external force. An inverse transform processing unit configured to calculate a shift angle between the robot arms and the central axis to move to a predetermined position after the external force is applied by inverse transform, and convert the shift angle value and the initial angle value to convert the shift angle value. Wherein the conversion angle value calculating means for calculating,

The movement position information is the movement position coordinate value, the movement angle value, and the conversion angle value,

Preferably, the conversion angle value is an electrical signal transmitted to the driver.

In addition, the movement position coordinate value is preferably located on a line along the direction of the external force from the initial position coordinate value.

Robot arm position movement method of the articulated joint using the position and posture calculating device of the wearable articulated robot arm using the input force of the human body of the present invention for achieving the above object is one end of the central axis to the wrist of the human body A first step of acquiring initial position information of a plurality of wearable robot arms connected to the other end to form a free end and rotating to each other; and a force sensor installed at the other end of the robot arm to operate the human body with the robot arms. A second step of predicting movement position information of the other end of the robot arm by using the initial position information when the external force generated between the human body is input, and moving the robutam arms to a predetermined position through the movement position information It includes a third step to make.

Here, the first step includes calculating an initial angle value between the robot arms and the central axis, and calculating an initial position coordinate value of the other end of the robot arm through the initial angle value,

The initial position information is preferably the initial angle value and the initial position coordinate value.

The method may further include measuring and predicting a moving position coordinate value according to the magnitude and direction of the force measured by the force sensor, and inverting the moving position coordinate value and the initial angle value to a predetermined position after the external force is applied. Calculating a moving angle value formed with the robot arms and the central axis to be moved, and calculating a conversion angle value by differentiating the moving angle value and the initial angle value,

The movement position information is the movement position coordinate value, the movement angle value, and the conversion angle value, and the conversion angle value is preferably used to move the robot arm to a predetermined position.

In addition, the movement position coordinate value is preferably located on a line along the direction of the external force from the initial position coordinate value.

Hereinafter, with reference to the accompanying drawings will be described a robot arm position calculation apparatus of the present invention, and a multi-arm robot arm having the same.

1 is a perspective view showing a multi-arm robot arm having a device for calculating the position and attitude of the robot arm of the present invention. 2 is a perspective view showing a mounting state of the force sensor according to the present invention. 3 is a view showing a first example of the operation principle of the position calculation device of the present invention through the robot arm of the present invention. Figure 4 is a side view showing a robotic arm of the articulated joint of the present invention. 5 is a view showing a second example of the operation principle of the robot arm position and attitude calculation apparatus of the present invention. Figure 6 is a block diagram showing a position and attitude calculation device of the robot arm of the present invention.

1 to 2, the robot arm of the present invention is a multi-arm robot arm mounted on the upper limb of the human body.

One end of the robot arm 100 of the articulated joint forms a central axis C at the shoulder portion of the human body 10, and the other end is positioned at the wrist portion of the human body 10 and forms a free end. The robot arm 100 of the articulated joint is connected to rotate with each other.

The driving unit 200 is installed between the robot arms 100. The driver 200 may receive power from the outside to drive the robot arms 100, respectively.

The other end of the robot arm 100 is mounted with a force sensor 300. The force sensor 300 is a force sensor installed between the other ends of the wearable articulated robot arm corresponding to the wrist of the human body 10, and the force of three axes of relative external force generated between the robot and the person by the movement of the person ( The magnitude and direction of F) can be recognized.

4 and 6, the robot arm 100 of the present invention estimates a position to be moved through the magnitude and the direction of the force F recognized through the force sensor 300. A position calculating device 400 capable of driving the robot arm 100 by transmitting a signal is provided.

The position calculating device 400 and the initial position calculating unit 410 for calculating the initial position information of the robot arms 100, and when the external force is applied to the other end of the robot arm 100 to the initial position information A movement position calculator 420 for calculating movement position information of the other end of the robot arm 100, and an electrical signal to the driving unit 200 through the movement position information to transmit the robutary arms 100. The control unit 430 for moving the to a predetermined position is provided.

Here, the initial position calculating unit 410 is an angle measuring means 411 for measuring the initial angle values (θ2, θ3) formed with the central axis (C) and the plurality of robot arms 100, and the initial Coordinate measuring means 412 for measuring initial position coordinate values A and P with respect to the ends of the robot arm 100 using angle values θ2 and θ3 is provided.

The initial position information is the initial angle values θ2 and θ3 and the initial position coordinate values A and P.

And, the movement position calculation unit 420 is a coordinate prediction means for measuring the movement position coordinate values (A ', P') according to the magnitude and direction of the force (F) measured through the force sensor 300 ( 421 and the robot arms moved to a predetermined position after the external force is applied by inversely converting the position coordinate values A 'and P' moved according to the magnitude and direction of the external force to the initial position coordinate values ( An inverse transform processing unit 422 for calculating the moving angle values θ2 'and θ3' of the central axis C, the moving angle values θ2 ', θ3', and the initial angle values θ2, The conversion angle calculation means 423 which calculates conversion angle values (DELTA) (theta) 2 and (DELTA) (theta) 3) by differentiating (theta) 3) is provided.

The moving position information is the moving position coordinate values A 'and P', the moving angle values θ2 'and θ3', and the conversion angle values Δθ2 and Δθ3.

The conversion angle values Δθ 2 and Δθ 3 are preferably electrical signals transmitted to the driving unit 200.

Further, the movement position coordinate values A ', P' are located on a line along the direction of the force F formed by the external force at the initial position coordinate values A, P.

In the above description, '20' is an interface for fastening the robot arm 100 and the wrist part of the human body 10, and the interface is mounted at the other end of the robot arm 100.

Next, the position calculating device of the wearable robot arm of the present invention having the configuration as described above, the operation and effect of the robot arm of the articulated joint having the same, and through this the articulated joint using the robot arm position calculation device of the present invention The robot arm position movement method will be described.

7 is a flow chart showing a method for moving the position of the robot arm of the articulated joint using the robot arm position and attitude calculation apparatus of the present invention. 8 is a flowchart showing a first step according to the invention.

2 to 6 and 7 to 9, the first position information of the plurality of robot arms 100 connected to be rotated with each other forms a central axis (C), the other end forms a free end, and To go through the first step (S100).

The robot arm 100 of the present invention is worn on the upper limb of the human body 10.

In this case, the initial position calculator 410 according to the present invention may calculate the initial position information of the robot arm 100.

That is, referring to FIGS. 3 and 4, the robot arm 100 corresponding to the wrist part of the O point and the A point and the human body 10 in which the driving unit 200 is installed between the robot arms 100. It is divided into P point which is the other end. The O point corresponds to the shoulder of the human body 10 and is the central axis C of the robot arm 100.

At this time, the human body 10 may generate a force (F) to move the upper limb to a predetermined position.

Subsequently, the initial position calculator 410 according to the present invention calculates initial position information of the robot arms 100.

That is, the angle measuring means 411 according to the present invention calculates θ2 and θ3 which are initial angle values between the robot arms 100 and the central axis C (S10).

Further, the coordinate measuring means 412 according to the present invention uses the initial angle value and the length of the robot arm 100 to determine the initial position coordinate values A (YA, ZA) and P of the other end of the robot arm 100. (YP, ZP) is calculated (S120).

Subsequently, when a force is applied to the force sensor 300, a second step of calculating movement position information to which the other end of the robot arm 100 should move is performed using the initial position information (S200).

Referring to FIG. 4, the force F input from the human body 10 may represent the force F at the initial position P. FIG. In addition, it is possible to determine P ′, which is a moving position on the same line as the direction of the force F. FIG. K is a constant that changes the force (F) to the value of the position. The size of P 'varies depending on the size of k.

At this time, the force sensor 300 installed between the other end of the robot arm 100 corresponding to the wrist of the human body 10 receives the relative force generated between the robot and the human by the operation of the human body 10, the input You can see the magnitude and direction of the force (F).

Accordingly, the coordinate predicting means 421 of the present invention calculates the movement position coordinate values A 'and P' according to the magnitude and direction of the force F measured by the force sensor 300, and thus the human body 10 Operation of the upper limb may be estimated (S210).

Subsequently, the inverse transform processing unit 422 according to the present invention transforms the movement position coordinate value P 'by inverse transform, thereby moving the robot arms to the position of P' to which the robot arm 100 will move by the external force input. The moving angle values θ2 'and θ3' can be calculated from the central axis C of (100) (S220).

Subsequently, the conversion angle calculating means 423 calculates the conversion angle values Δθ2 and Δθ3 by differentially calculating the moving angle values θ2 'and θ3' and the initial angle values θ2 and θ3. It may be (S230).

Accordingly, the calculated conversion angle values Δθ 2 and Δθ 3 are transmitted to the controller 430 according to the present invention in the form of an electrical signal.

Here, as a specific method for calculating the conversion angle values Δθ2 and Δθ3 in the inverse conversion processing unit 422 and the conversion angle calculation unit 423 according to the present invention, a conversion equation, typically called inverse conversion or inverse kinematics, is used.

This is a conversion formula for calculating the angle of each joint in the tool position and posture of the fingertip of the robot arm 100 in general. The conversion equation is described in various documents (for example, "Robot Basic Theory": by Tsuno Yoshikawa), which will be omitted below.

Next, the control unit 430 according to the present invention undergoes a third step of moving the robutaarm 100 to a predetermined position using the movement position information of the conversion angle values Δθ 2 and Δθ 3 (S300).

That is, the controller 430 transmits an electrical signal to the driver 200. The driving unit 200 may drive the robot arms 100 to be rotated by Δθ2 and Δθ3 at the initial angle values θ2 and θ3.

Meanwhile, in FIG. 5, the wearable articulated robot arm 100 of the present invention is initially initialized by the external force measured by the force sensor 300 between the wrist part of the human body 10 and the robot arm 100 in a three-dimensional space. It shows the movement from the position P to the movement position P '.

Even in this case, the method of calculating the above information through the position calculation device 400 of the present invention is the same. However, since the coordinates form three axes of X, Y, and Z, the coordinates have coordinates with respect to the three axes.

That is, the angle measuring means 411 according to the present invention can measure θ1, θ2 and θ3, and the coordinate measuring means 412 can calculate P (XP, YP, ZP).

Subsequently, the coordinate predicting means 421 may calculate P '(XP', YP ', ZP'), and the inverse transform processing unit 422 may calculate θ1 ', θ2', and θ3 ', and calculate a conversion angle. The means 423 can calculate Δθ 1, Δθ 2, and Δθ 3.

The conversion angle calculation means 423 transmits Δθ1, Δθ2, and Δθ3 to the controller 430 in the form of an electrical signal.

Therefore, the controller 430 transmits an electrical signal to the driver 200. The driving unit 200 may drive and position the robot arms 100 to be rotated by Δθ1, Δθ2, and Δθ3 at the initial angle values θ1, θ2, and θ3.

As described above, the present invention, when the external force is applied to the other end of the wrist portion of the wearable articulated robot arm mounted on the upper limb of the human body using the direction and magnitude of the force to the three axes of the external force robot arm The robot arm has an effect of estimating the movement position of the arm of the person, which is the upper limb of the human body, and moving the robot arm to the movement position.

In addition, the present invention by mounting a three-axis force sensor on the other end of the wrist portion of the articulated robot arm mounted on the upper limb of the human body by measuring the magnitude and direction of the force, the six-axis force required for obtaining all the information in space The use of the sensor has the effect of significantly reducing the cost due to the associated additional equipment.

Claims (12)

An initial position calculator configured to calculate initial position information of a plurality of wearable robotic arms whose one end forms a central axis and the other end corresponding to a wrist of the human body forms a free end and is rotated with each other; And When the external force generated between the robot arms and the human body is input by the force of the human body by the force sensor installed on the other end of the robot arm to calculate the movement position information of the other end of the robot arm using the initial position information Position and posture calculation device of the wearable articulated robot arm using the input force of the human body including a moving position calculation unit. The method of claim 1, The initial position calculator includes angle measuring means for measuring an initial angle value formed by the central axis and the plurality of robot arms, and coordinates for measuring an initial position coordinate value of the end of the robot arm using the initial angle value. With measuring means, The initial position information is the position and attitude calculation device of the wearable articulated robot arm using the input force of the human body, characterized in that the initial angle value and the initial position coordinate value. The method of claim 2, The moving position calculator includes coordinate predicting means for predicting a moving position coordinate value according to the magnitude and direction of the relative external force input to the force sensor, and an inverse transform of the moving position coordinate value predicted according to the magnitude and direction of the external force. And an inverse conversion processor configured to calculate a moving angle value formed by the robot arms and the central axis after the external force is applied, and calculates a conversion angle value by differentiating the moving angle value and the initial angle value. A conversion angle value calculating means, The movement position information is the position and attitude calculation device of the wearable articulated robot arm using the input force of the human body, characterized in that the movement position coordinate value, the movement angle value and the conversion angle value. The method of claim 2, Wherein the movement position coordinate value of the wearable articulated robot arm using the input force of the human body, characterized in that located on the line along the direction of the external force from the initial position coordinate value. A plurality of robot arms whose one end forms a central axis and the other end forms a free end and are rotatably connected to each other and wearable on an upper limb of a human body; A driver installed between the robot arms to receive power from the outside to drive the robot arms; A force sensor installed at the other end of the robot arm and measuring the magnitude and direction of the force on three axes when a relative force generated between the human body and the robot arm is input as the upper limb of the human body operates; An initial position calculator for calculating initial position information of the robot arms; A movement position calculator for predicting movement position information of the other end of the robot arm by using the initial position information when the relative force is input to the other end of the robot arm; And Wearable type having a position and posture calculation device of the wearable articulated robot arm using the input force of the human body including a control unit for transmitting the electrical signal to the driving unit through the movement position information to move the robutam arm to a predetermined position Articulated robot arm. The method of claim 5, The initial position calculator includes angle measuring means for measuring an initial angle value formed by the central axis and the plurality of robot arms, and coordinates for measuring an initial position coordinate value of the end of the robot arm using the initial angle value. With measuring means, The initial position information is a wearable articulated robot arm having a position and posture calculating device of the wearable articulated robot arm using the input force of the human body, characterized in that the initial angle value and the initial position coordinate value. The method of claim 6, The moving position calculator includes coordinate predicting means for predicting a moving position coordinate value according to the magnitude and direction of the relative external force input to the force sensor, and an inverse transform of the moving position coordinate value predicted according to the magnitude and direction of the external force. And an inverse conversion processor configured to calculate a moving angle value formed by the robot arms and the central axis after the external force is applied, and calculates a conversion angle value by differentiating the moving angle value and the initial angle value. A conversion angle value calculating means, The movement position information is the movement position coordinate value, the movement angle value, and the conversion angle value, The conversion angle value is a wearable articulated robot arm having a position and posture calculating device of the wearable articulated robot arm using the input force of the human body, characterized in that the electrical signal transmitted to the drive unit. The method of claim 6, And the movement position coordinate value is positioned on a line along the direction of the external force from the initial position coordinate value. A first step of acquiring initial position information of a plurality of wearable robotic arms whose one end forms a central axis and the other end corresponding to a wrist of the human body forms a free end and is rotated with each other; When the external force generated between the robot arms and the human body is input by the force of the human body by the force sensor installed on the other end of the robot arm to predict the movement position information of the other end of the robot arm using the initial position information Second step; And Robot arm position movement method of the articulated joint using the position and posture calculation device of the wearable articulated robot arm using the input force of the human body including a third step of moving the robutam arm to a predetermined position through the movement position information . The method of claim 9, The first step includes calculating an initial angle value between the robot arms and the central axis, and calculating an initial position coordinate value of the other end of the robot arm through the initial angle value. And the initial position information is the initial angle value and the initial position coordinate value. The position of the wearable articulated robot arm using the input force of the human body, wherein the joint arm position movement method of the articulated joint using the apparatus. The method of claim 10, Measuring and predicting a moving position coordinate value according to the magnitude and direction of the force measured by the force sensor, and inversely converting the moving position coordinate value and the initial angle value to move to a predetermined position after the external force is applied; Calculating a moving angle value formed between the robot arms and the central axis, and calculating a conversion angle value by differentiating the moving angle value and the initial angle value, The movement position information is the movement position coordinate value, the movement angle value, and the conversion angle value, and the conversion angle value is used to move the robot arm to a predetermined position using the input force of the human body. Robot arm position movement method of the articulated joint using the position and posture calculation device of the wearable articulated robot arm. The method of claim 10, The movement position coordinate value is a multi-joint using the position and posture calculation device of the wearable articulated robot arm using the input force of the human body, characterized in that located on a line along the direction of the external force from the initial position coordinate value. Robot arm position movement method.

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